\section{Lessons Learned}
	How do you summarize all the lessons learned over a half year period? The answer is, of course, that you do not: such a thing would be impossible. But it is possible to compile a list of the most important things we now know, which we did not know then:

	\begin{itemize}
		\item 	The real world is fuzzy. Okay, we already knew this, but by golly is it fuzzier than we expected!
		\item 	Your sensors will always lag behind. This can be a little bit of lag for the fast IR sensors, or half a minute for very slow camera processing, but it is lag nonetheless. Unless your movement is very predictable, do not trust your sensor readouts. For this reason, we ignore IR readouts when turning for example.
		\item 	Integration requires communication. Most of our meetings focused on how to get two components, written by different people, to talk to each other. This was surprisingly easy with ROS, but not so easy that we did not spend a lot of time on perfecting it.
		\item 	Teamwork requires even more communication. And, not everyone will always be available when you need them to be. Not entirely a new lesson, but worth mentioning here.
		\item 	One time consuming part is when needing to iteratively test on the robot. Make sure to have an easy, 1-step way of building, transferring and launching from the desk computer to minimize the effort of testing on the robot.
	\end{itemize}